Robotic Arm Self-Alignment for Surgical Cannula Docking
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Solution Overview
Problem
The manual docking process of robotic arms to cannulas in surgical procedures is challenging, time-consuming, and often requires sub-optimal port locations due to complex surgical arrangements, making it cumbersome and prone to errors.
Innovation Solution
A robotic system with a sensor disposed along the robotic arm to detect the moment between the cannula latch and cannula, enabling auto-alignment without requiring vision-based sensors or load cells, using a multi-axis load cell to facilitate automatic docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If manual docking is used, then the system is simpler, but the docking process becomes time-consuming and challenging
Solution Approach 1:
The patent replaces manual mechanical docking operations with an automated sensor-based system. Sensors detect the moment between the cannula latch and cannula, enabling automatic alignment and docking without requiring manual manipulation, thereby reducing docking time while maintaining system simplicity
Solution Approach 2:
The robotic arm performs self-alignment through sensor feedback that detects moments during contact with the cannula. The system automatically adjusts its position based on detected moment data, eliminating the need for external manual intervention and reducing docking time
2Measurement precision
If vision-based sensors or load cells are used, then alignment precision is improved, but device complexity and maintenance increase
Solution Approach 1:
The patent extracts and uses only the necessary moment detection capability from sensor systems. Instead of implementing complex vision-based sensors or multi-axis load cells, the system uses a simplified sensor approach that detects moments during contact, achieving adequate alignment precision with reduced complexity
Solution Approach 2:
The patent changes the measurement parameter from complex vision data or multi-axis force vectors to a simpler moment detection parameter. This moment parameter provides sufficient information for alignment while avoiding the complexity of more comprehensive sensing systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system simplifies and automates the docking process, reducing complexity and maintenance, and allows for precise alignment of robotic arms with cannulas, enhancing procedural efficiency and reducing the need for sub-optimal port placements.
Implementation Method 1
A robotic system with a sensor disposed along the robotic arm to detect the moment between the cannula latch and cannula
Data Source
AI summary
A robotic system can incorporate one or more sensors along a robotic arm in order to permit self-or auto-alignment of the robotic arm with a cannula during a docking procedure. The sensor can detect and measure a force or moment resulting from contact between an instrument driver of the robotic arm and the cannula. In response thereto, the robotic system can translate and/or rotate components of the robotic arm in order to align the instrument driver with the cannula, thereby facilitating latching of the cannula to the instrument driver.